NVIDIA Omniverse Isaac Sim (2) - Linux 开发环境

系统配置

系统: Ubuntu 22.04 （kernel: 5.15.0-100-generic)

硬件: CPU (AMD EPYC 7763 64-Core Processor),  RAM: 32G

          GPU (L40 + driver 535.129.03)

软件:  ldd --version (2.35) python3 --version (3.10.12)

安装Omniverse Launcher

在这里注册Omniverse SDK Download | NVIDIA

然后下载 Omniverse Launcher (Linux)

下载之后，给 omniverse-launcher-linux.AppImage加上可执行权限，打开即可

安装ISAAC SIM 4.1.0

从Omniverse Launcher里点击EXCHANGE， 找到  ISAAC SIM 4.1.0 并安装 (注意选择版本)

安装ISAAC Lab 1.1

apt install gh
gh auth login
gh repo clone isaac-sim/IsaacLab
cd IsaacLab/
./isaaclab.sh --help  #这是一个工具
ln -s /home/<nvidia>/.local/share/ov/pkg/isaac-sim-4.1.0 _isaac_sim  #创建Isaac SIM的链接
sudo apt install cmake build-essential
./isaaclab.sh --install

验证安装结果

添加两个环境变量
export ISAACSIM_PATH="${HOME}/.local/share/ov/pkg/isaac-sim-4.1.0"
export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"

试运行：
${ISAACSIM_PATH}/isaac-sim.sh

# checks that python path is set correctly
${ISAACSIM_PYTHON_EXE} -c "print('Isaac Sim configuration is now complete.')"
# checks that Isaac Sim can be launched from python
${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/omni.isaac.core/add_cubes.py

参考链接

Isaac Lab Git: https://github.com/isaac-sim/IsaacLab